Exoskeleton device, exoskeleton kit, and method of using exoskeleton device

Abstract

The invention relates to an exoskeleton device, an exoskeleton kit and a method of using the exoskeleton device. The exoskeleton device includes: first and second connection portions attached to the thigh and the shank, respectively; the first joint is rotatably connected with the first connecting part and the second connecting part; the cam, the elastic assembly and the power generation device are fixed to one of the first connecting part and the second connecting part, one end of the transmission part is connected to the cam, the other end of the transmission part is connected to the other one of the first connecting part and the second connecting part, and in the process that the first connecting part and the second connecting part stretch away from the rotating knee, the power generation device generates power. The transmission part enables the cam to rotate to press the elastic assembly, the arc-shaped rack is arranged on at least one part of the outer edge of the cam and meshed with a gear of the power generation device in the knee stretching process, and therefore the power generation device is driven to generate power. Through the device and the method disclosed by the invention, the activity ability and the walking energy efficiency of the KOA patient can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeletons, and in particular relates to an exoskeleton device for a knee joint for mechanical energy collection and gait assistance, a suit, and a method of using the same. Background Art

[0002] Knee osteoarthritis (KOA) often seriously deteriorates the mobility and quality of life of the elderly. To date, few effective KOA drugs have been approved. KOA patients usually can only rely on energy-inefficient assistive devices (such as crutches and walkers) to restore limited mobility. Despite this, researchers have proposed various concepts to improve the mobility and walking energy efficiency of KOA patients. Among these concepts, spring-based structures and soft elastic belts are the mainstream of wearable exoskeleton devices.

[0003] Various efforts have been made to improve the mobility and walking energy efficiency of KOA patients. In the prior art, work has been mainly carried out on two aspects: gait assistance and energy harvesting. For gait assistance, the main method is to bear part of the body weight and reduce the energy consumption of walking by reducing muscle force. For energy harvesting, the main energy conversion methods include electromagnetic effect, triboelectric effect and piezoelectric effect. The low frequency and irregular characteristics of human walking are the main obstacles to human movement energy harvesting, so up-conversion mechanisms are usually used in electromagnetic energy harvesters.

[0004] However, the inventors have found that in order to combine joint protection and strategically transfer biomechanical energy between the user and the wearable exoskeleton device to increase the versatility and effectiveness of the wearable exoskeleton device, significant modifications to the prior art are required. In addition, rigid structures attached to the limbs that are not strategically mechanically connected may restrict joint movement and interfere with normal gait patterns. In addition, the power output of the prior art biomechanical energy harvesters is significantly less than one watt, which is insufficient to continuously power most portable electronic devices. Summary of the invention

[0005] In order to solve at least one of the above problems, an exoskeleton device, an exoskeleton suit and a method of using the exoskeleton device are provided. The exoskeleton device, the suit and the method of using the exoskeleton device can significantly improve the mobility and walking energy efficiency of KOA patients.

[0006] According to one aspect of the present disclosure, an exoskeleton device is provided, comprising: a first connection portion, which is attached to a thigh of a human body; a second connection portion, which is attached to a calf of a human body; and a first joint, one end of the first connection portion and one end of the second connection portion are rotatably connected to the first joint respectively; the exoskeleton device also includes a transmission component and a cam fixed to one of the first connection portion and the second connection portion, an elastic component and a power generation device, the cam is rotatably fixed to the one of the first connection portion and the second connection portion through a cam shaft, and one end of the transmission component is connected to the cam, and the other end of the transmission component is connected to the other of the first connection portion and the second connection portion. During the knee extension process in which the first connection portion rotates around the first joint away from the second connection portion, the transmission component drives the other of the first connection portion and the second connection portion to rotate the cam around the cam shaft in a rotation direction, so that the outer edge of the cam presses the elastic component, and an arc-shaped rack is provided at at least a portion of the outer edge of the cam. During the knee extension process, the arc-shaped rack meshes with the gear of the power generation device, thereby driving the power generation device to generate electricity.

[0007] In some embodiments, the cam, the elastic assembly and the power generation device are fixed to the second connection part, and the other end of the transmission component is connected to the first connection part.

[0008] In some embodiments, the other of the first connection portion and the second connection portion is provided with a slideway extending along its longitudinal direction, the slideway is cooperated with a slider capable of sliding relative thereto, and the other end of the transmission component is rotatably connected to the slider.

[0009] In some embodiments, the transmission component includes an extension portion and an arc portion, the extension portion extends from the outer edge of the cam, the arc portion extends from the extension portion in the form of an arc plate protruding in the same direction as the protruding direction of the knee joint, and is rotatably connected to the slider.

[0010] In some embodiments, the elastic component includes a spring, one end of which is connected to a roller capable of contacting the outer edge of the cam, and the other end of the spring abuts against a bolt capable of adjusting the pre-compression of the spring. The elastic component also includes a connecting rod, which is rotatably fixed to one of the first connecting part and the second connecting part through a rotating bearing, and the connecting rod is connected to the rotating shaft of the roller. When the outer edge of the cam presses the roller, the roller rotates around the rotating bearing to press the spring.

[0011] In some embodiments, the arc-shaped rack is disposed on a portion of the outer edge of the cam that does not contact the elastic component when the cam presses the elastic component, and the arc-shaped rack is meshed with the gear during the entire process of the cam pressing the elastic component.

[0012] In some embodiments, an outer contour of the outer edge of the cam at the arc-shaped rack is concave inwardly relative to an outer contour of the outer edge of the cam at a portion other than the arc-shaped rack.

[0013] In some embodiments, the cam, the elastic assembly, and the power generation device are enclosed in a housing and fixed to one of the first connection portion and the second connection portion through the housing.

[0014] In some embodiments, it also includes: a second joint, which is attached to the thigh, and the other end of the first connection part opposite to the end connected to the first joint is rotatably connected to the second joint; a third joint, the other end of the second connection part opposite to the end connected to the first joint is rotatably connected to the third joint; and a foot connection part, which is attached to the foot and connected to the third joint through a hinge part.

[0015] In some embodiments, when the side close to the front of the human body is defined as the front side, and the side close to the back of the human body is defined as the back side, the first connecting portion includes a first connecting rod located on the front side and a second connecting rod located on the back side, which are arranged parallel to each other, one end of the first connecting rod and one end of the second connecting rod are rotatably connected to a first connecting point and a second connecting point spaced apart on the first joint, respectively, the other end of the first connecting rod and the other end of the second connecting rod are rotatably connected to a third connecting point and a fourth connecting point spaced apart on the second joint, respectively, and the second connecting portion includes a third connecting rod located on the front side, which are arranged parallel to each other. and a fourth link located at the rear side, one end of the third link and one end of the fourth link are rotatably connected to a fifth connection point and a sixth connection point spaced apart on the first joint, respectively, the other end of the third link and the other end of the fourth link are respectively connected to a seventh connection point and an eighth connection point spaced apart by a first distance a1 on the third joint, the exoskeleton device further includes a first connection spring with a spring coefficient of k1 and a second connection spring with a spring coefficient of k2, the first connection spring is connected between the first joint and the first connection portion, and the second connection spring is connected between the third joint and the second connection portion.

[0016] In some embodiments, the third joint also includes a ninth connection point, which is located at the rear side of the eighth connection point, colinear with the eighth connection point and the seventh connection point, and the distance between the ninth connection point and the eighth connection point is a second distance a2, the first connecting spring is connected between the first connection point and an eleventh connection point on the second connecting rod whose distance from the second connection point is a third distance l1, and the second connecting spring is connected between the ninth connection point and a tenth connection point on the fourth connecting rod whose distance from the eighth connection point is a fourth distance l2, wherein the spring coefficient k1, the spring coefficient k2, the first distance a1, the second distance a2, the third distance l1 and the fourth distance l2 satisfy the following formula: a1k1l1=a2k2l2.

[0017] In some embodiments, the first connection part and the second connection part are made of a hollow aluminum alloy material.

[0018] In some embodiments, the first connection portion is attached to the thigh by a thigh attachment device mounted on the second joint, and the second connection portion is attached to the calf by a calf attachment device fixed thereto.

[0019] According to another aspect of the present disclosure, an exoskeleton suit is provided, the exoskeleton suit comprising two of the aforementioned exoskeleton devices, one for a left leg and the other for a right leg.

[0020] According to another aspect of the present disclosure, there is provided a method for using the aforementioned exoskeleton device, the method comprising: attaching the first connection portion to the thigh; attaching the first connection portion to the thigh; attaching the second connection portion to the calf; performing a leg straightening action during gait to engage the cam of the exoskeleton device with the elastic component and press the elastic component, while engaging the arc-shaped rack of the cam with the gear of the power generation device, thereby driving the power generation device to generate electricity; and performing a leg bending action during gait to release the elastic component from the cam of the exoskeleton device.

[0021] Compared with the prior art, the exoskeleton device according to the present invention can collect braking energy while the knee joint is extended, and part of the collected braking energy can be used to assist the knee joint to flex, and the exoskeleton device is light in weight, easy to carry and wear, and has a low manufacturing cost, and does not require expensive and complex active control to achieve a smooth stride. In addition, the exoskeleton device according to the present invention has very few changes to the configuration of the commonly used knee joint support due to the integration of knee joint pressure support, walking assistance and energy collection functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] These and / or other exemplary aspects and advantages will become apparent and more readily understood from the following description and accompanying drawings.

[0023] Figure 1 is a perspective view of an exoskeleton apparatus according to an exemplary embodiment of the present disclosure.

[0024] Figure 2A is a schematic diagram of a cam of an exoskeleton device according to an exemplary embodiment of the present disclosure, Figure 2B is a schematic diagram showing the cam of the exoskeleton device according to the present disclosure being disengaged from the elastic component, and Figure 2C is a schematic diagram showing a cam pressing elastic component of an exoskeleton device according to the present disclosure;

[0025] Figure 3A is a schematic diagram of a four-bar structure of an exoskeleton device according to an exemplary embodiment of the present disclosure, Figure 3B is a simplified schematic diagram of a four-bar structure of an exoskeleton device according to an exemplary embodiment of the present disclosure, and Figure 3C is an equivalent schematic diagram of a four-bar structure of an exoskeleton device according to an exemplary embodiment of the present disclosure;

[0026] FIG. 4A to FIG. 4C shows a detailed view of an exoskeleton device according to an exemplary embodiment of the present disclosure;

[0027] FIG. 5A to FIG. 5C Various data measured while walking while wearing an exoskeleton device according to an exemplary embodiment of the present disclosure are shown.

[0028] Figure 6 shows an energy flow diagram of an exoskeleton device according to an exemplary embodiment of the present disclosure; and

[0029] Figure 7 A flow chart illustrating a method of using an exoskeleton device.

[0030] These drawings are intended to illustrate various aspects of the disclosure and are not limiting in scope in terms of size, material, configuration, or proportion unless otherwise defined by the claims.

[0031] Description of reference numerals:

[0032] 1 exoskeleton device; 10 first connecting part; 11 first connecting rod; 12 second connecting rod;

[0033] 13 first connecting spring; 20 second connecting part; 21 third connecting rod; 22 fourth connecting rod; 23 second connecting spring; 24 calf attachment device; 25 Velcro; 30 first joint; 40 second joint; 41 thigh attachment device; 42 anti-slip folds; 43 buckle device; 50 third joint; 60 cam; 61 cam shaft; 62 transmission component; 62-a extension; 62-b arc portion; 63 arc rack; 70 elastic component; 71 spring; 72 roller; 73 bolt; 74 connecting rod; 75 rotary bearing; 76 shaft; 80 generator position; 81 gear; 90 slideway; 91 slider; 100 housing; 110 foot connection; 111 buckle; 112 force sensor; 120 hinge; p1 first connection point; p2 second connection point; p3 third connection point; p4 fourth connection point; p5 fifth connection point; p6 sixth connection point; p7 seventh connection point; p8 eighth connection point; p9 ninth connection point; p10 tenth connection point; p11 eleventh connection point; a1 first distance; a2 second distance; l1 third distance; l2 fourth distance; W1 first position; W2 second position. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, exemplary embodiments will be described in detail below. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of systems and methods consistent with some aspects disclosed in the present embodiments as detailed in the attached claims. The embodiments of the present disclosure are provided so as to fully explain the present disclosure to those skilled in the art. Therefore, in order to describe more clearly, the shapes and sizes of the elements in the drawings may be exaggerated.

[0035] The terms used in the present disclosure are only used to describe specific embodiments and are not intended to limit the present disclosure. The term "and / or" as used in the present disclosure includes any and all combinations of one or more related enumerated items. The singular forms "one" and "the" as used in the present disclosure are also intended to include plural forms, unless the context clearly indicates otherwise. The terms "including", "consisting of..." as used in the present disclosure specify the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof.

[0036] Unless otherwise defined, all terms (including technical and scientific terms) used in this disclosure have the same meaning as commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning unless explicitly defined in this disclosure.

[0037] In the following description, the terms "upper", "lower", "left", "right", "front", "back", "front side", "back side" and the like, which are terms related to orientation, are defined based on the orientation when the exoskeleton device is worn on a human body. That is, the terms "upper", "lower", "left", "right", "front", "back", "front side", "back side" and the like, which are referred to below, respectively correspond to the upper, lower, left, right, front, back, front side and back side of a human body. However, it should be understood that the terms related to orientation in the present disclosure are for illustrative purposes only and are not intended to limit directions.

[0038] In the following description, a gait cycle is defined as the period from the heel of one side of the human body touching the ground to the heel of the same side touching the ground again. A gait cycle usually includes two phases: the support phase (stance phase) and the swing phase. The support phase includes the first contact with the ground (initial contact), the load-bearing reaction period, the middle support phase (mid-stance phase) and the end of the support phase (end of stance phase), and the swing phase includes the early swing phase (early stride), the early swing phase (early stride), the middle swing phase (mid-stance phase) and the end of the swing phase (end of stride).

[0039] Specifically, first contact means the moment when the ipsilateral foot (heel) contacts the ground for the first time. In addition, "ipsilateral" means the side of the left or right foot that focuses on the movement of the foot. The weight-bearing reaction period means the period from when the foot is placed on the ground until the foot on the opposite side leaves the ground. In addition, "opposite side" means the side of the left or right foot that does not focus on the movement of the foot. The middle stance phase means the period from when the swing phase of the lower limb on the opposite side begins to when the heel of the ipsilateral side leaves the ground. The end of the stance phase means when the heel of the ipsilateral side leaves the ground until the first contact of the lower limb on the opposite side. The first contact, weight-bearing reaction period, middle stance phase, and end of the stance phase include the period from when the foot of the human body contacts the ground during walking to when it leaves the ground.

[0040] In addition, the early swing phase means from the first contact of the lower limb on the opposite side to the toe-off of the same side. The early swing phase means from the toe-off of the same side to the same side foot and the opposite side foot side by side. The middle swing phase means from the time when the same side foot and the opposite side foot are side by side to the time when the lower leg on the same side becomes perpendicular to the ground. The late swing phase means from the time when the lower leg on the same side is perpendicular to the ground to the first contact of the same side.

[0041] Furthermore, toe-off means the moment when the toe of the foot leaves the ground. Heel-strike means the moment when the heel touches the ground. Heel-off means the moment when the heel leaves the ground.

[0042] like Figures 1 to 3C As shown, the present disclosure provides an exoskeleton device 1, comprising: a first connection portion 10, which is attached to the thigh of a human body (such as a KOA patient, etc.); a second connection portion 20, which is attached to the calf of the human body; and a first joint 30, one end of the first connection portion 10 and one end of the second connection portion 20 are rotatably connected to the first joint 30 respectively; the exoskeleton device 1 also includes a transmission component 62 and a cam 60 fixed to one of the first connection portion 10 and the second connection portion 20, an elastic component 70 and a power generation device 80, the cam 60 is rotatably fixed to one of the first connection portion 10 and the second connection portion 20 through a cam shaft 61, and one end of the transmission component 62 is rotatably connected to the first connection portion 10 and the second connection portion 20. One end is connected to the cam 60, and the other end of the transmission component 62 is connected to the other one of the first connection part 10 and the second connection part 20. During the knee extension process when the first connection part 10 rotates around the first joint 30 away from the second connection part 20, the transmission component 62, driven by the other one of the first connection part 10 and the second connection part 20, causes the cam 60 to rotate around the cam shaft 61 along the rotation direction, so that the outer edge of the cam 60 presses the elastic component 70, and an arc-shaped rack 63 is provided at at least a portion of the outer edge of the cam 60. During the knee extension process, the arc-shaped rack 63 engages with the gear 81 of the generator 80, thereby driving the generator 80 to generate electricity.

[0043] In some embodiments, during knee flexion when the first connection portion 10 rotates around the first joint 30 to approach the second connection portion 20, the cam 60 rotates around the cam shaft 61 in another rotation direction opposite to the rotation direction, so that the elastic component 70 is released by the cam 60 and pushes the cam 60 to rotate in the other rotation direction.

[0044] Figure 1 , Figure 2B and Figure 2C An embodiment in which the cam 60, the elastic component 70 and the power generation device 80 are encapsulated in the housing 100 is shown. In this embodiment, the cam 60, the elastic component 70 and the power generation device 80 are fixed to one of the first connection part 10 and the second connection part 20 through the housing 100. However, the arrangement of the cam 60, the elastic component 70 and the power generation device 80 is not limited thereto, for example, the cam 60, the elastic component 70 and the power generation device 80 may be directly fixed to the first connection part 10 or the second connection part 20. The cam 60, the elastic component 70, the power generation device 80 and the housing 100 (if any) may be collectively referred to as an actuator.

[0045] exist Figure 1In the illustrated embodiment, the cam 60, the elastic component 70 and the generator 80 (encapsulated in the housing 100 and not visible) are shown as being fixed to the second connection portion 20. However, in some embodiments, the cam 60, the elastic component 70 and the generator 80 may also be fixed to the first connection portion 10.

[0046] The knee extension process in which the first connection part 10 rotates around the first joint 30 away from the second connection part 20 corresponds to the leg straightening phase in gait (the end of the swing phase and the stance phase in the gait cycle), that is, the knee extension process when the calf swings forward relative to the thigh until the foot (heel) touches the ground. The knee flexion process in which the first connection part 10 rotates around the first joint 30 close to the second connection part 20 corresponds to the leg bending phase in gait (the early swing phase and the early swing phase in the gait cycle), that is, the knee flexion process when the calf swings backward relative to the thigh and the foot leaves the ground.

[0047] although Figure 1 The first connection part 10 and the second connection part 20 are shown as rod-shaped parts, however, their shapes are not limited thereto. For example, the first connection part 10 and the second connection part 20 can also be formed into a plate shape, a curved shell shape, a hollow block shape, etc., as long as they can support and attach the thigh and the calf.

[0048] exist Figure 1 , FIG. 2A to FIG. 2C In the illustrated embodiment, the elastic assembly 70 includes a spring 71, one end of which is connected to a roller 72 capable of contacting the outer edge of the cam 60, and the other end of the spring 71 abuts against a bolt 73 capable of adjusting the pre-compression of the spring 71. The elastic assembly 70 also includes a connecting rod 74, which is rotatably fixed to one of the first connection part 10 and the second connection part 20 through a rotating bearing 75, and the connecting rod 74 is connected to the rotating shaft 76 of the roller 72. When the outer edge of the cam 60 presses the roller 72, the roller 72 rotates around the rotating bearing 75 to press the spring 71.

[0049] However, it should be understood that the configuration of the elastic assembly 70 is not limited thereto. For example, the elastic assembly 70 may not include the bolt 73 for adjusting the pre-compression of the spring. For example, the elastic assembly 70 may not include the connecting rod 74 and the rotating bearing 75. For example, the elastic assembly 70 may not include the roller 72. For example, the elastic assembly 70 may only include a spring and a fixing member for fixing the spring, and the rotating cam 60 may directly press the spring or release the spring.

[0050] like Figure 1As shown, the first connection part 10 is provided with a slideway 90 extending along its longitudinal direction (in other embodiments, the slideway may also be provided on the second connection part 20), the slideway 90 is provided with a slider 91 capable of sliding relative thereto, and the transmission component 62 is rotatably connected to the slider 91. In some embodiments, the slideway 90 may be fixed to the first connection part 10 or the second connection part 20 by glue or other adhesives. Here, the longitudinal direction of the first connection part 10 is the direction in which the first connection part 10 is arranged along the length direction of the thigh.

[0051] like Figure 2A As shown, the transmission component 62 includes an extension portion 62-a and an arc portion 62-b, wherein the extension portion 62-a extends from the outer edge of the cam 60, and the arc portion 62-b extends from the extension portion 62-a in the form of an arc-shaped plate protruding in the same direction as the protruding direction of the knee joint and is rotatably connected to the slider 91. Figure 1 In the figure, the protruding direction of the knee joint is from the lower right to the upper left. For example, a hole may be formed at one end of the transmission component 62 connected to the slider 91, and a bearing or the like may pass through the hole and be positioned on the slider 91, thereby connecting the transmission component 62 to the slider 91. However, it should be understood that the way in which the transmission component 62 is connected to the slider 91 is not limited thereto.

[0052] In addition, the shape of the transmission component 62 is not limited thereto, for example, the transmission component 62 can also be formed into any shape and structure that can effectively transmit the power, such as a straight rod shape, a curved shape with straight rod edges, etc. In addition, the connection method of the transmission component 62 to the first connecting part 10 or the second connecting part 20 is not limited to the above-mentioned method of rotatably connecting to the slider of the slideway. For example, in some embodiments, the slideway and the slider may not be provided, and the transmission component 62 may be fixedly connected to the main body of the first connecting part 10 or the second connecting part 20. For example, in some embodiments, the transmission component 62 may be connected to the main body of the first connecting part 10 or the second connecting part 20 in a pivotable manner.

[0053] The center of the cam 60 may be provided with a hole for assembling the cam shaft 61 to establish a rotation center. The cam 60 may be provided with a hollow structure to reduce the mass of the cam.

[0054] In some embodiments, the arc-shaped rack 63 is meshed with the gear 81 of the power generation device 80 during the process of the cam 60 pressing the elastic component 70, thereby driving the power generation device 80 to generate electricity. In this case, the arc-shaped rack 63 can be set at the portion of the outer edge of the cam 60 that does not contact the elastic component 70 when the cam 60 presses the elastic component 70, and the arc-shaped rack 63 remains meshed with the gear 81 of the power generation device 80 during the entire process of the cam 60 pressing the elastic component 70. In this case, the cam 60 may include an integrally formed first part and a second part, the first part is formed into, for example, a semicircle, and the second part is formed into, for example, a semi-ellipse. The arc-shaped rack 63 is distributed on at least a portion of the outer edge of the first part formed into a semicircle. The second part formed into a semi-ellipse is used as a cam part that presses the elastic component 70 or releases the elastic component 70 by rotation. In addition, the extension 62-a of the transmission component 62 can, for example, extend from the boundary of the first part and the second part of the cam 60 in the tangential direction.

[0055] In some embodiments, the arc-shaped rack 63 meshes with the gear 81 to drive the power generation device 80 to generate electricity during the process of the cam 60 releasing the elastic component 70. In this case, for example, the range of the arc-shaped rack 63 can be set to overlap at least a part of or not overlap at all with the range of the outer edge of the elastic component 70 that contacts the elastic component 70 when the cam 60 presses the elastic component 70.

[0056] like Figure 2A As shown, the outer contour of the outer edge of the cam 60 at the arc-shaped rack 63 is concave inwardly to leave a space relative to the outer contour of the outer edge of the cam 60 at the portion other than the arc-shaped rack 63. In this way, the gear 81 of the power generation device 80 can be arranged in the space, thereby making the structure of the device more compact.

[0057] The shape and structure of the cam 60 are not limited to the above-mentioned forms but may take various forms as long as the two functions of using the cam 60 to press and release the elastic component 70 and driving the generator 80 to generate electricity through the engagement of the arc-shaped rack 63 with the gear 81 can be effectively coordinated.

[0058] The power generation device 80 can be connected to the gear 81 through a gear box. It should be understood that for simplicity, Figure 2B and Figure 2C Details such as the gearbox in the power generation device 80 and the specific gear ratio are not shown.

[0059] In some embodiments, the cam 60, the elastic component 70 and the power generation device 80 are fixed to the second connection part 20 of the first connection part 10 and the second connection part 20, and in the process of the first connection part 10 rotating around the first joint 30 away from the second connection part 20 (knee extension process) (i.e., in the process of the cam 60 pressing the elastic component 70), the arc-shaped rack 63 is meshed with the gear 81 of the power generation device 80. Figure 1 , Figure 2B and Figure 2C This is the case in the embodiment shown.

[0060] It should be understood that Figure 1 , FIG. 2A to FIG. 2C The illustrated solution is merely an exemplary embodiment of the exoskeleton device 1 of the present disclosure, but the exoskeleton device 1 of the present disclosure is not limited thereto.

[0061] Next, combine Figure 1 , Figure 2B and Figure 2C The exoskeleton device 1 in the illustrated embodiment illustrates the operation of the exoskeleton device 1 during a gait cycle.

[0062] Specifically, Figure 2B A schematic diagram showing the cam and elastic component of the exoskeleton device being disengaged during the leg bending phase (knee flexion process) of gait. Figure 2B In the figure, the transmission component 62 is in the first position W1 and is about to swing to the second position W2. The transmission component 62 in the first position W1 is oriented to be inclined to the upper left side in the figure. At this time, the thigh and the calf are in a bent state, and the cam 60 is not in contact with the elastic component 70. As the foot gradually approaches the ground during walking, the thigh gradually straightens relative to the calf, so that the first connection part 10 gradually straightens relative to the second connection part 20. At this time, the transmission component 62 is driven by the second connection part 20 along Figure 1 The counterclockwise direction ( Figure 2B and Figure 2C The transmission member 62 rotates clockwise in the middle of the first connecting portion 10 and the second connecting portion 20. At the same time, the end of the transmission member 62 connected to the slider 91 slides on the slideway 90 so that even if the transmission member 62 rotates, it can still be adaptively connected between the first connecting portion 10 and the second connecting portion 20. The above rotation of the transmission member 62 also drives the cam 60 to rotate around the cam shaft 61 along the Figure 2B The cam 60 rotates in the clockwise direction (rotation direction) by an angle θ. During the rotation of the cam 60, the cam begins to contact the elastic component 70, and as the cam 60 rotates, the cam 60 continuously presses the elastic component 70 until the rotation angle reaches θ, and the cam 60 presses the elastic component 70 to the maximum extent (e.g. Figure 2CAs shown, the transmission component 62 is in the second position W2 at this time. When the elastic component 70 is pressed, elastic energy is stored therein, and the elastic energy is used to generate assist torque in the subsequent standing phase (support phase). At the same time, as the cam 60 rotates, the arc-shaped rack 63 arranged on the outer edge of the cam 60 (the arc-shaped rack is different from the outer edge of the cam 60 that contacts the elastic component 70 during the rotation process) begins to mesh with the gear 81 arranged near the arc-shaped rack 63, thereby driving the generator 80 to generate electricity. Figure 2C It shows that when the cam 60 rotates by an angle θ (when the transmission member 62 is at the second position W2 ), the cam 60 presses the elastic component 70 and the arc-shaped rack 63 meshes with the gear 81 .

[0063] Subsequently, during the leg bending phase of gait, the foot (toes) begins to leave the ground, the thigh gradually bends relative to the calf, and the first connecting portion 10 gradually bends relative to the second connecting portion 20, which drives the transmission component 62 from Figure 2C The second position W2 gradually rotates to Figure 2B The rotation of the transmission member 62 drives the cam 60 along Figure 2B and Figure 2C The cam 60 rotates counterclockwise (the other direction of rotation) so that the cam 60 gradually moves from Figure 2C The state of pressing the elastic component 70 shown is converted to gradually releasing the pressing on the elastic component 70 and finally breaking contact with the elastic component 70. In the process of the cam 60 gradually releasing the pressing on the elastic component 70, the elastic energy stored in the elastic component 70 is released and in turn generates an assist torque to push the cam 60 to rotate in the counterclockwise direction, which helps reduce the power consumed by the KOA patient when lifting the knee in this gait phase, thereby improving the mobility of the KOA patient. In some embodiments, the pre-compression of the spring 71 can be adjusted by the bolt 73 to adjust the magnitude of the assist torque generated by the spring 71 of the elastic component 70 during the release stroke.

[0064] The principle of the exoskeleton device 1 of the present disclosure is to improve walking energy efficiency by naturally utilizing the negative work of the knee joint during the end swing phase of gait (leg straightening and landing phase). The exoskeleton device 1 of the present disclosure can quickly switch from the early swing phase (leg bending phase) when the cam 60 is disengaged from the elastic component 70 to the end swing phase and stance phase (leg straightening and landing phase) when the cam 60 is engaged with the elastic component 70 to carry the load, support the body weight in the end swing phase and stance phase and help the knee joint to bend by circulating the elastic energy of the spring connected to the cam, and collect braking energy at the end swing phase at the same time.

[0065] The electric energy collected while walking (electric energy generated by the power generation device 80) can be stored by energy storage modules such as batteries and capacitors, and can thus be used as an energy reserve for components such as wearable electronic devices and rehabilitation sensors.

[0066] In addition, it should be understood that, although not shown in the figures, the exoskeleton device 1 may also include other elements such as grease applied to the inner surface of the gear box, wires for electronic components, and buffer layers connected to the joints.

[0067] In some embodiments, Figure 1 and Figure 3A As shown, the exoskeleton device 1 may also include: a second joint 40, which is attached to the thigh and to which the other end of the first connection portion 10 opposite to the end connected to the first joint 30 is rotatably connected; a third joint 50, to which the other end of the second connection portion 20 opposite to the end connected to the first joint 30 is rotatably connected; and a foot connection portion 110, which is attached to the foot and is connected to the third joint 50 via a hinge portion 120.

[0068] It should be understood that the second joint 40 is not necessary, and the first connection portion 10 can be directly attached to the thigh through a connection member such as a strap. It should also be understood that the third joint 50, the hinge 120 and the foot connection 110 are not necessary, as long as the second connection portion 20 can be reliably and firmly attached to the calf.

[0069] In some embodiments, Figure 1 As shown, the second joint 40 may be pivotally connected to the thigh attachment device 41. Figure 4A As shown, the thigh attachment device 41 may include a thigh support and a buckle device 43 for binding the thigh. The inner surface of the thigh support may be provided with anti-slip folds 42. In some embodiments, as Figure 4B As shown, a force sensor 112 may be provided between the third joint 50 and the hinge 120. In some embodiments, as Figure 4C As shown, the foot connection portion 110 may be connected to the heel of the foot or shoe via an adjustable buckle 111 .

[0070] In some embodiments, FIG. 3A to FIG. 3CAs shown, in the case where the side close to the front of the human body is defined as the front side, and the side close to the back of the human body is defined as the back side, the first connecting portion 10 may include a first connecting rod 11 located at the front side and a second connecting rod 12 located at the back side arranged in parallel with each other. One end of the first connecting rod 11 and one end of the second connecting rod 12 are rotatably connected to the first connecting point p1 and the second connecting point p2 spaced apart on the first joint 30, respectively, the other end of the first connecting rod 11 and the other end of the second connecting rod 12 are rotatably connected to the third connecting point p3 and the fourth connecting point p4 spaced apart on the second joint 40, respectively, and the second connecting portion 20 may include a third connecting rod 21 located at the front side and a fourth connecting rod 22 located at the back side arranged in parallel with each other, one end of the third connecting rod 21 and one end of the fourth connecting rod 22 are rotatably connected to the fifth connecting point p5 and the sixth connecting point p6 spaced apart on the first joint 30, respectively, and the other end of the third connecting rod 21 and the other end of the fourth connecting rod 22 are respectively connected to the seventh connecting point p7 and the eighth connecting point p8 spaced apart by the first distance a1 on the third joint 50. The exoskeleton device 1 further includes a first connection spring 13 with a spring constant k1 and a second connection spring 23 with a spring constant k2, the first connection spring 13 being connected between the first joint 30 and the first connection portion 10, and the second connection spring 23 being connected between the third joint 50 and the second connection portion 20.

[0071] In some embodiments, the third joint 50 also includes a ninth connection point p9, which is located on the back side (rear side) of the eighth connection point p8, colinear with the eighth connection point p8 and the seventh connection point p7, and the distance between the ninth connection point p9 and the eighth connection point p8 is the second distance a2, the first connecting spring 13 is connected between the first connection point p1 and the eleventh connection point p11 on the second connecting rod 12, which is at a distance of the third distance l1 from the second connection point p2, and the second connecting spring 23 is connected between the ninth connection point p9 and the tenth connection point p10 on the fourth connecting rod 22, which is at a distance of the fourth distance l2 from the eighth connection point p8, wherein the spring coefficient k1, the spring coefficient k2, the first distance a1, the second distance a2, the third distance l1 and the fourth distance l2 satisfy the following formula: a1k1l1=a2k2l2.

[0072] By satisfying the above equations, a four-bar mechanism with zero stiffness can be realized during the knee flexion phase.

[0073] However, it should be understood that the above four-bar mechanism is only an example of achieving zero stiffness, but is not limited thereto. Figure 1 As shown, the connection points connecting the third connecting rod 21, the fourth connecting rod 22 and the second connecting spring 23 on the third joint 50 may not be collinear. In addition, the connection method of the first connecting spring 13 and the second connecting spring 23 is also exemplary and not limited thereto. Figure 1In the illustrated embodiment, the first connecting spring 13 is connected between the first joint 30 and the first connecting rod 11 .

[0074] In some embodiments, the distance between the first connection point p1 and the second connection point p2, the distance between the third connection point p3 and the fourth connection point p4, the distance between the fifth connection point p6 and the sixth connection point p6, and the first distance a1 may be equal to each other.

[0075] In some embodiments, the first to eighth connection points p1 to p8 may be formed as holes of the same size to respectively connect the first link 11, the second link 12, the third link 21, and the fourth link 22. Each hole includes a bearing to facilitate the rotation of the first link 11, the second link 12, the third link 21, and the fourth link 22.

[0076] In some embodiments, the first connection portion 10 and the second connection portion 20 are made of a hollow aluminum alloy material, thereby minimizing the weight of the exoskeleton device 1. In some embodiments, the first link 11, the second link 12, the third link 21, and the fourth link 22 are made of a hollow aluminum alloy material. In some embodiments, lightweight materials can be used to print the fixing frame of the thigh and calf. In some embodiments, by using lightweight materials, the total mass of the exoskeleton device 1 is less than 1 kg, so it is easy to carry and convenient to wear. The total mass of the exoskeleton device 1 is less than 1 kg, which is comparable to a simple stick, so the adjustable thigh strap 41 can provide a high level of comfort for wearers of different body shapes (such as KOA patients).

[0077] In some embodiments, the first connecting portion 10 can be mounted on the thigh attachment device 41 on the second joint 40 (see Figure 1 ) is attached to the thigh. In some embodiments, the second connecting portion 20 can be fixed to the calf attachment device 24 (see Figure 1 ) is attached to the calf.

[0078] The exoskeleton device 1 of the present disclosure utilizes a spring-spring balance mechanism to construct autonomous energy-free regulation within a target range of knee joint motion without batteries and complex control systems, and is coupled with a spring-cam actuator to coordinate human walking.

[0079] FIG. 4A to FIG. 4CA manufacturing prototype of the exoskeleton device is shown. The total mass of the entire prototype is between 0.85kg and 0.98kg, depending on the design size of the user. As mentioned above, a non-slip pleat 42 can be provided on the inner side of the thigh strap 41. The buckle device 43 in the thigh frame and the buckle 111 attached to the shoe frame (foot connection 110) enable the exoskeleton device to be put on and taken off quickly and easily, while also providing a customized fit. In order to evaluate the knee joint pressure reduction metric of the exoskeleton device 1, a force sensor 112 is provided between the second connection 20 and the foot connection 110. A layer of soft Velcro 25 is provided and wrapped around the calf attachment device 24 to facilitate putting on and taking off. The calf attachment device 24 can be, for example, a calf strap.

[0080] The disclosed embodiment uses a soft material such as a cushion to connect to the leg. The disclosed exoskeleton device 1 is designed to be lightweight and fit closely to the wearer's leg, and the entire structure of the exoskeleton device 1 is compact and adapts to the phase of knee joint movement (phase in the gait cycle).

[0081] FIG. 5A to FIG. 5C 1 shows the relevant test results measured when walking while wearing the exoskeleton device 1 of the present disclosure. Figure 5A As shown in FIG. 1 , the knee joint pressure of an adult male of average build (e.g., weighing about 100 kg) was tested. The test shows that wearing the exoskeleton device 1 and walking at a normal speed can potentially reduce the knee joint pressure by up to about 130 N. In addition, as Figure 5B As shown in FIG. 1 , for the assist torque during the gait cycle, the test shows that the exoskeleton device 1 can provide a peak assist torque of up to 1.9 Nm. Figure 5C As shown, the relationship between cadence and power output was also tested. The test showed that the power output generated by the exoskeleton device 1 varied between 0.6 watts and 1.7 watts as the cadence varied. The exoskeleton device 1 could generate more than 3 watts of power when installed on both legs.

[0082] Figure 6 An energy flow diagram of an exoskeleton device 1 according to the present disclosure is shown. Before the heel strikes the ground, the braking energy of the lower leg is collected by walking with the exoskeleton device 1. The collected energy is divided into two parts: one part is used to drive a power generation device (e.g., a generator) to generate electricity, and the other part is stored in a spring connected to a cam to generate a walking assist torque. The power generation device is driven by the knee flexion movement in the end of the swing phase before the heel strikes the ground and transmits power output, and the power generation device is connected to an energy storage module (e.g., a battery) to be used as a power source for rehabilitation sensors and health monitoring electronic devices.

[0083] Specifically, see Figure 6, part of the human body's metabolic energy is used for movement energy, part for other biological functions, and part is dissipated in the form of heat. Part of the movement energy is used to maintain basic functions, part is used for human movement, part is converted into potential energy of the spring, and part is collected by the generator. Part of the potential energy of the spring is also collected by the generator. The generator stores the power output to the energy storage module.

[0084] Another aspect of the present disclosure provides an exoskeleton suit, which includes two exoskeleton devices 1 as described above, and the two exoskeleton devices 1 are used for the left leg and the right leg respectively.

[0085] Another aspect of the present disclosure provides a method of using the exoskeleton device as described above, such as Figure 7 As shown, the method comprises: S1. attaching the first connecting part 10 to the thigh; S2. attaching the second connecting part 20 to the calf; S3. performing a leg straightening action in gait (knee extension process, i.e., the end of the swing phase and the stance phase in the gait cycle), so that the cam 60 of the exoskeleton device 1 engages with the elastic component 70 and presses the elastic component 70, and at the same time, the arc-shaped rack 63 of the cam 60 engages with the gear 81, thereby driving the generator 80 to generate electricity; and S4. performing a leg bending action in gait (knee flexion process, i.e., the early swing phase in the gait cycle), so that the elastic component 70 is released from the cam 60 of the exoskeleton device 1.

[0086] The above method can improve the wearer's (e.g., KOA patients) mobility and walking energy efficiency, and the method operates in the following three modes: 1) bear part of the knee joint pressure to protect the knee joint from excessive friction and wear; 2) assist the hamstrings and tibialis anterior muscles in generating force during the late swing phase and stance phase of gait; and 3) collect the braking energy of the calf before the heel strike gait.

[0087] This disclosure describes a method for capturing braking energy during the end of the swing phase of gait, which replaces part of the function of the hamstrings to decelerate the lower leg before contacting the ground. The harvested energy is then divided into two parts: one part drives a three-phase generator to generate electricity, and the other part is stored in a spring coupled to a cam to generate walking assist torque. This multi-stage energy utilization strategy improves the energy efficiency of human walking.

[0088] From the above description, it should be recognized that the optimal relationships of the components of the present disclosure with respect to size, shape, material, mode of operation and function, assembly and use are considered obvious to those skilled in the art, and all relationships equivalent to those shown in the drawings and described in the specification are intended to be covered by the present disclosure.

[0089] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present disclosure, but the present disclosure is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and substance of the present disclosure, and these modifications and improvements are also considered to be within the scope of protection of the present disclosure.

Claims

1. An exoskeleton device, characterized in that: include: a first connecting portion, which is attached to a thigh of a human body; a second connection portion, which is attached to the lower leg of the human body; as well as a first joint, one end of the first connection portion and one end of the second connection portion being rotatably connected to the first joint respectively; The exoskeleton device further includes a transmission component and a cam fixed to one of the first connection part and the second connection part, an elastic component and a power generation device, wherein the cam is rotatably fixed to the one of the first connection part and the second connection part via a cam shaft, and one end of the transmission component is connected to the cam, and the other end of the transmission component is connected to the other of the first connection part and the second connection part. During the knee extension process in which the first connection part rotates around the first joint away from the second connection part, the transmission component, driven by the other of the first connection part and the second connection part, causes the cam to rotate around the cam shaft in the rotation direction, so that the outer edge of the cam presses the elastic component, and An arc-shaped rack is provided at at least a portion of the outer edge of the cam. During the knee extension process, the arc-shaped rack is meshed with the gear of the generator, thereby driving the generator to generate electricity.

2. The exoskeleton device according to claim 1, characterized in that: The cam, the elastic assembly, and the power generating device are fixed to the second connecting portion, and the other end of the transmission member is connected to the first connecting portion.

3. The exoskeleton device according to claim 1 or 2, characterized in that: The other of the first connection part and the second connection part is provided with a slideway extending along its longitudinal direction, the slideway is cooperated with a slider capable of sliding relative thereto, and the other end of the transmission component is rotatably connected to the slider.

4. The exoskeleton device according to claim 3, characterized in that: The transmission component includes an extension portion and an arc portion, wherein the extension portion extends from the outer edge of the cam, and the arc portion extends from the extension portion in the form of an arc plate protruding in the same direction as the protruding direction of the knee joint and is rotatably connected to the slider.

5. The exoskeleton device according to claim 1 or 2, characterized in that: The elastic component includes a spring, one end of which is connected to a roller capable of contacting the outer edge of the cam, and the other end of the spring is abutted against a bolt capable of adjusting the pre-compression of the spring. The elastic component also includes a connecting rod, which is rotatably fixed to one of the first connecting part and the second connecting part through a rotating bearing, and the connecting rod is connected to the rotating shaft of the roller. When the outer edge of the cam presses the roller, the roller rotates around the rotating bearing to press the spring.

6. The exoskeleton device according to claim 2, characterized in that: The arc-shaped rack is arranged at a portion of the outer edge of the cam that does not contact the elastic component when the cam presses the elastic component, and the arc-shaped rack is meshed with the gear during the entire process of the cam pressing the elastic component.

7. The exoskeleton device according to any one of claims 1, 2 and 6, characterized in that: An outer contour of an outer edge of the cam at the arc-shaped rack is recessed inwardly relative to an outer contour of an outer edge of the cam at a portion other than the arc-shaped rack.

8. The exoskeleton device according to claim 1 or 2, characterized in that: The cam, the elastic assembly, and the power generating device are enclosed in a housing, and are fixed to one of the first connecting portion and the second connecting portion through the housing.

9. The exoskeleton device according to claim 2, characterized in that: Also includes: a second joint attached to the thigh, and the other end of the first connection portion opposite to the end connected to the first joint is rotatably connected to the second joint; a third joint, to which the other end of the second connection portion opposite to the end connected to the first joint is rotatably connected; as well as A foot connection portion is attached to the foot and is connected to the third joint via a hinge portion.

10. The exoskeleton device according to claim 9, characterized in that: When the side close to the front of the human body is defined as the front side, and the side close to the back of the human body is defined as the back side, the first connecting portion includes a first connecting rod located on the front side and a second connecting rod located on the back side, which are arranged parallel to each other, one end of the first connecting rod and one end of the second connecting rod are rotatably connected to a first connecting point and a second connecting point spaced apart on the first joint, respectively, the other end of the first connecting rod and the other end of the second connecting rod are rotatably connected to a third connecting point and a fourth connecting point spaced apart on the second joint, respectively, and The second connecting portion includes a third connecting rod located at the front side and a fourth connecting rod located at the rear side, which are arranged in parallel with each other, one end of the third connecting rod and one end of the fourth connecting rod are rotatably connected to a fifth connecting point and a sixth connecting point spaced apart on the first joint, respectively, and the other end of the third connecting rod and the other end of the fourth connecting rod are respectively connected to a seventh connecting point and an eighth connecting point spaced apart by a first distance a1 on the third joint, The exoskeleton device further includes a first connection spring with a spring constant of k1 and a second connection spring with a spring constant of k2, wherein the first connection spring is connected between the first joint and the first connection portion, and the second connection spring is connected between the third joint and the second connection portion.

11. The exoskeleton device according to claim 10, characterized in that: The third joint further includes a ninth connection point, which is located at the rear side of the eighth connection point and is collinear with the eighth connection point and the seventh connection point, and the distance between the ninth connection point and the eighth connection point is a second distance a2. The first connecting spring is connected between the first connecting point and an eleventh connecting point on the second connecting rod that is a third distance l1 from the second connecting point, and The second connecting spring is connected between the ninth connecting point and a tenth connecting point on the fourth connecting rod which is a fourth distance l2 from the eighth connecting point, wherein: The spring coefficient k1, the spring coefficient k2, the first distance a1, the second distance a2, the third distance l1 and the fourth distance l2 satisfy the following formula: a1k1l1=a2k2l2.

12. The exoskeleton device according to claim 1 or 10, characterized in that: The first connection part and the second connection part are made of hollow aluminum alloy material.

13. The exoskeleton device according to claim 9, characterized in that: The first connecting portion is attached to the thigh by a thigh attachment device mounted on the second joint, and The second connecting portion is attached to the calf by a calf attachment device fixed thereto.

14. An exoskeleton suit, characterized in that: The exoskeleton suit comprises two exoskeleton devices according to any one of claims 1 to 13, one for the left leg and one for the right leg respectively.

15. A method of using the exoskeleton device according to any one of claims 1 to 13, characterized in that: The method comprises: attaching the first connecting portion to the thigh; attaching the second connecting portion to the lower leg; Performing a leg straightening action during gait, so that the cam of the exoskeleton device engages with the elastic component and presses the elastic component, and at the same time, the arc-shaped rack of the cam meshes with the gear of the power generation device, thereby driving the power generation device to generate electricity; and The elastic member is released from the cam of the exoskeleton device by performing a leg bending motion during gait.

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